CN113101139A - Self-adaptive control hand exoskeleton rehabilitation device and method combining pressure sensor - Google Patents
Self-adaptive control hand exoskeleton rehabilitation device and method combining pressure sensor Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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Abstract
The invention provides a self-adaptive control hand exoskeleton rehabilitation device and a self-adaptive control hand exoskeleton rehabilitation method which are combined with a pressure sensor, and the device comprises the following steps; step S1, the user wears the exoskeleton equipment to move by hands to apply force to the exoskeleton equipment, and step S2, the control module collects force application data; then, the acquired force application data of the user is taken as the current physical sign data of the hand, and the force application data in the hand health state is combined to form a rehabilitation exercise scheme suitable for the current hand state of the user; step S3, when the hand of the user wears the exoskeleton device and moves, or the exoskeleton device actively drives the hand of the user to do rehabilitation movement, the exoskeleton device adjusts the working condition of the exoskeleton device according to the rehabilitation movement scheme and the pressure monitoring data so that the pressure applied to the hand is in a bearable range; the invention can intelligently judge and self-adaptively control the driving force for each finger of the hand according to the actual hand motion capability of the patient, is convenient to use, and greatly improves the efficiency and the safety of hand rehabilitation of a wearer.
Description
Technical Field
The invention relates to the technical field of exercise assistance and rehabilitation instruments, in particular to a self-adaptive control hand exoskeleton rehabilitation device and method combined with a pressure sensor.
Background
The hand is the most complicated motion organ of human, has the characteristics of exquisite structure and flexible action, and can complete important actions such as grabbing, pinching, holding and the like in daily life. The annual new stroke population of China reaches 240 million, and the disability rate is as high as 75%. The motor dysfunction caused by the disease causes great burden to patients and families and even society thereof. If the hand motor dysfunction continues to develop, the hand motor dysfunction may fall into a vicious circle with the continuous decline of the hand motor function, and finally, the hand paralysis is caused. However, compared with a huge number of patients with dyskinesia, the rehabilitation doctors in China are in shortage, so that the hand rehabilitation gloves which are convenient to carry and use become research hotspots in recent years.
Recovery from hand motor dysfunction requires some degree of active and passive exercise, but most patients do not lose their hands entirely, but leave a portion of their motor capacity. The existing hand rehabilitation device mostly does not consider the motion capability of the part, does not consider the situation of the motion function of the hand of the wearer, only presets a unified glove motion mode, drives the motion of the hand of the wearer, or judges the situation of the motion function of the hand of the wearer intelligently, only depends on the wearer to adjust the motion gear of the glove, and thus the finger rehabilitation effect of the wearer is reduced.
The existing hand rehabilitation device can not realize intelligent judgment according to the actual hand motion capability of a patient and self-adaptive control of the driving force for each finger of the hand. Based on the shortcomings of the prior art, a hand auxiliary motion and rehabilitation mechanism which can judge the incapability of each finger of the hand of a wearer, intelligently train each finger and feed back a pressure value in real time to adjust the driving force is urgently needed to be researched.
The pressure sensor is a detection device which can sense an external pressure signal and convert the sensed pressure signal into an electric signal or other signal output according to a certain rule, and generally comprises a pressure sensitive element and a signal processing unit. The pressure acquisition of this mechanism utilizes pressure sensing's principle to design and forms, specifically, arranges pressure sensor at gloves palm and finger inboard exactly, and hand motion pressure sensor takes place resistance strain effect, absorbs the strain resistor on the base material in the pressure sensor promptly and produces mechanical deformation along with the hand motion and take place the resistance and change. A mechanism for arranging a large-area sensor array to realize hand movement detection does not appear in the market.
According to the self-adaptive control hand exoskeleton rehabilitation device combined with the pressure sensor, the pressure sensor is used for collecting the pressure value distribution information of the hand of a wearer, the exoskeleton is controlled to provide suitable driving force for five fingers respectively to drive the hand of the wearer to move, and the pressure value is fed back in real time to adjust the mechanism of the driving force of the exoskeleton, so that the intelligent judgment according to the actual hand movement capacity of the patient is realized, and the driving force for each finger of the hand is controlled in a self-adaptive manner. Convenient to use has improved efficiency and the security of wearing person's hand recovered greatly.
Disclosure of Invention
The invention provides a self-adaptive control hand exoskeleton rehabilitation device and method combined with a pressure sensor, which can intelligently judge and self-adaptively control the driving force for each finger of a hand according to the actual hand motion capability of a patient, are convenient to use, and greatly improve the hand rehabilitation efficiency and safety of a wearer.
The invention adopts the following technical scheme.
A method of adaptively controlling a hand exoskeleton rehabilitation in conjunction with a pressure sensor, the rehabilitation method comprising the steps of;
step S1, the exoskeleton device is worn by the hand of the user to exercise so as to apply force to the exoskeleton device,
step S2, the control module of the exoskeleton device collects force application data through the pressure sensor of the exoskeleton device; the force application data comprises the pressure magnitude and the pressure distribution applied to the exoskeleton equipment by the hand of the user; then, the acquired force application data of the user is taken as the current physical sign data of the hand, and the force application data in the hand health state is combined to form a rehabilitation exercise scheme suitable for the current hand state of the user;
and step S3, when the hand of the user wears the exoskeleton device and moves, or the exoskeleton device actively drives the hand of the user to perform rehabilitation movement, the exoskeleton device monitors the stress size and stress distribution of the hand of the user through the pressure sensor according to a rehabilitation movement scheme, and adjusts the working condition of the exoskeleton device according to the monitoring data so that the pressure applied to the hand is in a bearable range.
The exoskeleton device is a sensing glove which can be worn on a hand;
in step S1, the hand of the user is naturally relaxed, and then the sensing glove is adjusted to a proper position, worn and fixed on the hand, so that the hand is fully contacted with the pressure sensor inside the glove;
in step S2, the exoskeleton device is started, the pressure sensors monitor and calibrate the pressure value distribution data of the hand in the natural state, then the hand moves naturally, and the pressure sensors collect the pressure data and the distribution of the pressure data that can be applied by the hand of the wearer.
In step S2, the control module of the exoskeleton device reads the force application data of the hand of the wearer by using the pressure sensor inside the glove and transmits the data to the external computing device (15), the computing device analyzes the received data to obtain the pressure magnitude and the pressure distribution of the hand of the wearer during the motion, and obtains the current state data of the hand of the wearer, and the computing device determines the current function of the hand of the wearer by comparing the current state data of the hand of the wearer with the normal healthy hand motion pressure distribution, thereby forming a rehabilitation motion scheme suitable for the current hand state of the user.
The rehabilitation exercise scheme comprises rehabilitation operation of driving fingers to move by exoskeletal equipment; the control module of the exoskeleton device comprises a single chip microcomputer;
when the fingers of a wearer actively move according to the requirement of rehabilitation operation, or the exoskeleton equipment applies force to the fingers of the wearer to assist the wearer to move according to the requirement of rehabilitation operation, the pressure sensor collects pressure data and distribution of the pressure data when the exoskeleton equipment drives the hands of the wearer to move in real time, the data are fed back to the single chip microcomputer in real time, the single chip microcomputer transmits the data to the computing equipment in real time, the computing equipment calculates the difference between the driving force required by each finger driven by the exoskeleton equipment to realize the action of rehabilitation operation and the current driving force, and the difference information is transmitted to the single chip microcomputer, so that the working condition of the exoskeleton equipment is adjusted by the.
The self-adaptive control hand exoskeleton rehabilitation device combined with the pressure sensor comprises the exoskeleton device and a computing device, wherein the exoskeleton device comprises a sensing glove (1), an exoskeleton and a pneumatic control device; the exoskeleton comprises supporting plates which are respectively arranged on the front side of the five-finger joint and the rear side of the finger joint of the sensing glove; a pressure sensor (4) connected with the control module is arranged on the cavity wall of the inner cavity of the sensing glove; the pneumatic control device comprises an air bag member (7); the air bag part is fixed on the supporting plate of the outer skeleton, and when the air bag part contracts or expands, the finger parts of the sensing glove are driven to bend and extend so as to drive the fingers in the sensing glove to move.
The air bag part is a corrugated hose part which can be longitudinally stretched; the corrugated hose is connected with an air source device (10) through an air path.
The air source device comprises a box body (9), an air compressor and a pneumatic triple piece; the gas output by the air compressor is divided into five gas paths through a precision reducing valve (11), and the five gas paths are connected with air bag parts at the joints of the five fingers of the sensing gloves through a five-path electric proportional valve (12), a regulating valve (13) and an air pipe (8);
the pressure sensors are distributed densely in an array mode and are tightly attached to the inner side of the sensing glove, and the pressure sensors are flexible pressure sensors with skin-friendly performance.
The single chip microcomputer in the exoskeleton equipment control module comprises an air source side single chip microcomputer (14) arranged at an air source device and a glove side single chip microcomputer (5) arranged at a sensing glove; the glove-side single chip microcomputer uploads the acquired pressure sensor data to external computing equipment through a Bluetooth module;
the external computing equipment transmits exoskeleton control information to the air source side single chip microcomputer through serial port communication or Bluetooth communication, and the computing equipment controls the exoskeleton equipment in real time through the air source side single chip microcomputer and the glove side single chip microcomputer.
The exoskeleton control information comprises exoskeleton driving air pressure data; when the single chip microcomputer on the air source side receives the driving air pressure data of the exoskeleton, the air pressure of each air bag part is adjusted by controlling the five-way electric proportional valve, so that the driving force of the exoskeleton on the finger parts of the sensing gloves is adjusted.
The outer wall of the sensing glove is provided with a male magic tape (2) and a female magic tape (3); when the sensing glove is worn, the sensing glove is fixed on the hand by the male magic tape (2) and the female magic tape (3); the joint part of the sensing glove and the hand is formed by flexible materials; the corrugated hose piece is cylindrical, and the middle position of the corrugated hose piece is closely adjacent to the finger joint.
The pressure distribution information of the hand of the wearer uploaded by the single chip microcomputer is received by the external computing equipment, and then the data can be displayed on the display screen through the pressure value display module, so that the wearer can visually feel the pressure distribution, and meanwhile, the function condition of the hand of the patient can be judged according to the pressure information.
The invention provides a self-adaptive control hand exoskeleton rehabilitation device combined with a pressure sensor, which utilizes the pressure sensor to collect the pressure value distribution information of a hand of a wearer and controls a five-way electric proportional valve to adjust the air pressure of a five-way exoskeleton execution mechanism so as to change the driving force applied to each finger. And the pressure value is fed back and adjusted to drive force of the exoskeleton in real time. By using the hand exoskeleton rehabilitation device provided by the invention, the incapability judgment of each finger of the hand of a patient can be realized, and the five fingers of the wearer can be intelligently trained. And the exoskeleton driving force is adjusted according to the real-time feedback of the sensor, so that the hand motion of the patient is assisted. The hands are fully exercised during the exercise, and the hand rehabilitation condition is dynamically obtained. Meanwhile, the hand exoskeleton rehabilitation device provided by the invention is simple in principle, convenient to use, high in safety, good in real-time performance, high in precision and wide in application range.
According to the pressure data fed back by the pressure sensor in real time, the driving force applied by the exoskeleton mechanism is automatically adjusted by the singlechip, so that the hand can normally move and realize functions. The device can have different modes according to different scenes. On one hand, hands can be fully exercised in the using process, and on the other hand, the hand muscles of a wearer are fully protected and cannot be damaged.
When the pressure-controlled air pressure control device is used outdoors, in order to improve the portability of the rehabilitation device, the computing equipment can directly transmit pressure information to the single chip microcomputer through the Bluetooth module, the single chip microcomputer analyzes and judges the pressure information, controls each electric proportional valve, changes the air pressure control corrugated pipe to drive the hands to move, and enables a user to increase exercise time and autonomy.
In order to improve the applicability of the hand exoskeleton rehabilitation device, the supporting plate can be sewn at a proper position according to the actual hand size of a wearer and the positions of finger joints, so that the finger joints are positioned at the center of the corrugated pipe, the position of the exoskeleton is changed, and the rehabilitation effect and the comfort level of the wearer are improved.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic view of a sensing glove of the present invention;
FIG. 3 is a schematic diagram of the array distribution of pressure sensors in the interior cavity of the glove;
FIG. 4 is a schematic view of a sensing glove of the present invention in connection with a trachea;
FIG. 5 is a schematic view of a gas supply arrangement;
in the figure: 1-sensing gloves; 2-male magic tape; 3-female magic tape; 4-a pressure sensor; 5-glove-side single-chip microcomputer; 6-a support plate; 7-an air bag member; 8-trachea; 9-a box body; 10-gas source means; 11-precision pressure reducing valve; 12-five-way electric proportional valve; 13-a speed regulating valve; 14-gas source side single chip microcomputer; 15-computing device.
Detailed Description
As shown, an adaptive control hand exoskeleton rehabilitation method incorporating pressure sensors, the rehabilitation method comprising the steps of;
step S1, the exoskeleton device is worn by the hand of the user to exercise so as to apply force to the exoskeleton device,
step S2, the control module of the exoskeleton device collects force application data through the pressure sensor of the exoskeleton device; the force application data comprises the pressure magnitude and the pressure distribution applied to the exoskeleton equipment by the hand of the user; then, the acquired force application data of the user is taken as the current physical sign data of the hand, and the force application data in the hand health state is combined to form a rehabilitation exercise scheme suitable for the current hand state of the user;
and step S3, when the hand of the user wears the exoskeleton device and moves, or the exoskeleton device actively drives the hand of the user to perform rehabilitation movement, the exoskeleton device monitors the stress size and stress distribution of the hand of the user through the pressure sensor according to a rehabilitation movement scheme, and adjusts the working condition of the exoskeleton device according to the monitoring data so that the pressure applied to the hand is in a bearable range.
The exoskeleton device is a sensing glove which can be worn on a hand;
in step S1, the hand of the user is naturally relaxed, and then the sensing glove is adjusted to a proper position, worn and fixed on the hand, so that the hand is fully contacted with the pressure sensor inside the glove;
in step S2, the exoskeleton device is started, the pressure sensors monitor and calibrate the pressure value distribution data of the hand in the natural state, then the hand moves naturally, and the pressure sensors collect the pressure data and the distribution of the pressure data that can be applied by the hand of the wearer.
In step S2, the control module of the exoskeleton device reads the force application data of the hand of the wearer by using the pressure sensor inside the glove and transmits the force application data to the external computing device 15, the computing device analyzes the received data to obtain the pressure magnitude and the pressure distribution of the hand of the wearer during the motion, and obtains the current state data of the hand of the wearer, and the computing device determines the current function of the hand of the wearer by comparing the current state data of the hand of the wearer with the normal healthy hand motion pressure distribution, so as to form a rehabilitation motion scheme suitable for the current hand state of the user.
The rehabilitation exercise scheme comprises rehabilitation operation of driving fingers to move by exoskeletal equipment; the control module of the exoskeleton device comprises a single chip microcomputer;
when the fingers of a wearer actively move according to the requirement of rehabilitation operation, or the exoskeleton equipment applies force to the fingers of the wearer to assist the wearer to move according to the requirement of rehabilitation operation, the pressure sensor collects pressure data and distribution of the pressure data when the exoskeleton equipment drives the hands of the wearer to move in real time, the data are fed back to the single chip microcomputer in real time, the single chip microcomputer transmits the data to the computing equipment in real time, the computing equipment calculates the difference between the driving force required by each finger driven by the exoskeleton equipment to realize the action of rehabilitation operation and the current driving force, and the difference information is transmitted to the single chip microcomputer, so that the working condition of the exoskeleton equipment is adjusted by the.
The self-adaptive control hand exoskeleton rehabilitation device combined with the pressure sensor comprises the exoskeleton device and a computing device, wherein the exoskeleton device comprises a sensing glove 1, an exoskeleton and a pneumatic control device; the exoskeleton comprises supporting plates which are respectively arranged on the front side of the five-finger joint and the rear side of the finger joint of the sensing glove; a pressure sensor 4 connected with the control module is arranged on the cavity wall of the inner cavity of the sensing glove; the pneumatic control device comprises an air bag member 7; the air bag part is fixed on the supporting plate of the outer skeleton, and when the air bag part contracts or expands, the finger parts of the sensing glove are driven to bend and extend so as to drive the fingers in the sensing glove to move.
The air bag part is a corrugated hose part which can be longitudinally stretched; the corrugated hose is connected with an air source device 10 through an air path.
The air source device comprises a box body 9, an air compressor and a pneumatic triple piece; the gas output by the air compressor is divided into five gas paths through a precision reducing valve 11, and the five gas paths are connected with the air bag parts at the joints of the five fingers of the sensing gloves through a five-path electric proportional valve 12, a regulating valve 13 and an air pipe 8;
the pressure sensors are distributed densely in an array mode and are tightly attached to the inner side of the sensing glove, and the pressure sensors are flexible pressure sensors with skin-friendly performance.
The single chip microcomputer in the exoskeleton equipment control module comprises an air source side single chip microcomputer 14 arranged at an air source device and a glove side single chip microcomputer 5 arranged at a sensing glove; the glove-side single chip microcomputer uploads the acquired pressure sensor data to external computing equipment through a Bluetooth module;
the external computing equipment transmits exoskeleton control information to the air source side single chip microcomputer through serial port communication or Bluetooth communication, and the computing equipment controls the exoskeleton equipment in real time through the air source side single chip microcomputer and the glove side single chip microcomputer.
The exoskeleton control information comprises exoskeleton driving air pressure data; when the single chip microcomputer on the air source side receives the driving air pressure data of the exoskeleton, the air pressure of each air bag part is adjusted by controlling the five-way electric proportional valve, so that the driving force of the exoskeleton on the finger parts of the sensing gloves is adjusted.
The outer wall of the sensing glove is provided with a male magic tape 2 and a female magic tape 3; when the sensing glove is worn, the sensing glove is fixed on the hand by the male magic tape 2 and the female magic tape 3; the joint part of the sensing glove and the hand is formed by flexible materials; the corrugated hose piece is cylindrical, and the middle position of the corrugated hose piece is closely adjacent to the finger joint.
The pressure distribution information of the hand of the wearer uploaded by the single chip microcomputer is received by the external computing equipment, and then the data can be displayed on the display screen through the pressure value display module, so that the wearer can visually feel the pressure distribution, and meanwhile, the function condition of the hand of the patient can be judged according to the pressure information.
Example (b):
in this example, the technical solution includes the following components.
S1, the self-adaptive control hand exoskeleton rehabilitation device combined with the pressure sensor comprises a sensing glove, an exoskeleton, a pneumatic control device and a 15-computer. Gloves 1 adopts flexible material, and laminating hand, public magic subsides 2 and female magic subsides 3 bonding fix gloves in hand, and flexible pressure sensor 4 sends the computer with pressure information transmission to singlechip 5 and through the bluetooth. The support plate 6 is made of elastic materials and sewn on the gloves to play a role in fixing the bellows 7, the bellows is hollow inside and is arranged at the finger joint, air is ventilated through the air pipe 8, the bellows is contracted and extended, and the hands are driven to move. The box 9, the air supply device 10, including air compressor and pneumatic trigeminy piece among them, are used for producing reliable gas, and gas divides into five ways through accurate relief pressure valve 11, reaches the ectoskeleton through five way electric proportional valve 12 and governing valve 13 respectively, and singlechip 14 passes through the information control electric proportional valve that the bluetooth received computer transmitted. The self-adaptive hand rehabilitation exoskeleton combined with the pressure sensor is provided with an exoskeleton control module and a pressure numerical value display module.
And S2, the exoskeleton control module is used for controlling the singlechip controllers of the modules, and the main function of the exoskeleton control module is that when the pressure information acquired by the sensor is transmitted to the computer through the Bluetooth module of the singlechip 5, the computer calculates the air pressure required by the exoskeleton to execute the function after receiving the pressure information. The computer transmits air pressure information to a single chip microcomputer of the pneumatic control device by using the Bluetooth module, and then the single chip microcomputer controls the five-way electric proportional valve 12 to change air pressure, so that the exoskeleton function is realized. The pressure value display module is used for displaying the pressure distribution information of the wearer on a computer screen after the computer receives the pressure distribution information so that the wearer can feel the pressure distribution visually, and meanwhile, the hand function condition of the patient can be judged according to the pressure information.
S3, in order to obtain the pressure distribution value of the hand of the wearer, the pressure sensor 4 needs to be tightly attached to the inner side of the glove, a novel flexible pressure sensor is adopted, certain skin-friendly performance and flexibility are guaranteed, technical specifications are met when the pressure sensor is installed, the sensor is arranged according to the hand skeleton, the position is guaranteed to be relatively fixed, the authenticity of collected data is guaranteed, errors are reduced, and the pressure value can be accurately read by the wearer wearing the glove.
S4, in order to improve the applicability of the hand exoskeleton rehabilitation device, the supporting plate 6 can be sewn at a proper position according to the actual hand size and the finger joint position of a wearer, so that the finger joint is positioned at the center of the corrugated pipe, the exoskeleton position is changed, and the rehabilitation effect and the comfort level of the wearer are improved.
S5, the device can have different modes according to different scenes. In order to improve the portability of the self-adaptive hand exoskeleton rehabilitation device combined with the pressure sensor in the open air, the pressure information can be directly transmitted to the single chip microcomputer 14 through the Bluetooth module, the single chip microcomputer analyzes and judges the pressure information, controls each electric proportional valve 12, and changes the air pressure control corrugated pipe 7 to drive the hand to move. While this reduces the functionality of the pressure visualization and hand function diagnostic display.
In the embodiment, when the exoskeleton equipment drives the fingers of the wearing person to move according to the rehabilitation scheme, the wearing person can apply force to cooperate with the action of the exoskeleton equipment, and the force of the wearing person can change the pressure and the pressure distribution in the sensing glove in real time, so that the exoskeleton equipment monitors the pressure change in real time by using the sensor in the sensing glove, and adjusts the force output of the exoskeleton equipment in real time, the pressure of the hand of the wearing person is always in the pressure range specified by the rehabilitation scheme, the seamless connection between the active force application of the wearing person and the exoskeleton auxiliary power is realized, and the rehabilitation training efficiency can be effectively improved.
Claims (10)
1. A self-adaptive control hand exoskeleton rehabilitation method combined with a pressure sensor is characterized in that: the rehabilitation method comprises the following steps;
step S1, the exoskeleton device is worn by the hand of the user to exercise so as to apply force to the exoskeleton device,
step S2, the control module of the exoskeleton device collects force application data through the pressure sensor of the exoskeleton device; the force application data comprises the pressure magnitude and the pressure distribution applied to the exoskeleton equipment by the hand of the user; then, the acquired force application data of the user is taken as the current physical sign data of the hand, and the force application data in the hand health state is combined to form a rehabilitation exercise scheme suitable for the current hand state of the user;
and step S3, when the hand of the user wears the exoskeleton device and moves, or the exoskeleton device actively drives the hand of the user to perform rehabilitation movement, the exoskeleton device monitors the stress size and stress distribution of the hand of the user through the pressure sensor according to a rehabilitation movement scheme, and adjusts the working condition of the exoskeleton device according to the monitoring data so that the pressure applied to the hand is in a bearable range.
2. The method for adaptive control hand exoskeleton rehabilitation in combination with pressure sensors of claim 1, wherein: the exoskeleton device is a sensing glove which can be worn on a hand;
in step S1, the hand of the user is naturally relaxed, and then the sensing glove is adjusted to a proper position, worn and fixed on the hand, so that the hand is fully contacted with the pressure sensor inside the glove;
in step S2, the exoskeleton device is started, the pressure sensors monitor and calibrate the pressure value distribution data of the hand in the natural state, then the hand moves naturally, and the pressure sensors collect the pressure data and the distribution of the pressure data that can be applied by the hand of the wearer.
3. The method for adaptive control of hand exoskeleton rehabilitation in combination with pressure sensors of claim 2, wherein: in step S2, the control module of the exoskeleton device reads the force application data of the hand of the wearer by using the pressure sensor inside the glove and transmits the force application data to the external computing device, the computing device analyzes the received data to obtain the pressure magnitude and the pressure distribution of the hand of the wearer during the motion, and obtains the current state data of the hand of the wearer, and the computing device determines the current function of the hand of the wearer by comparing the current state data of the hand of the wearer with the normal healthy hand motion pressure distribution, so as to form a rehabilitation motion scheme suitable for the current hand state of the user.
4. The method for adaptive control hand exoskeleton rehabilitation in combination with pressure sensors of claim 3, wherein: the rehabilitation exercise scheme comprises rehabilitation operation of driving fingers to move by exoskeletal equipment; the control module of the exoskeleton device comprises a single chip microcomputer;
when the fingers of a wearer actively move according to the requirement of rehabilitation operation, or the exoskeleton equipment applies force to the fingers of the wearer to assist the wearer to move according to the requirement of rehabilitation operation, the pressure sensor collects pressure data and distribution of the pressure data when the exoskeleton equipment drives the hands of the wearer to move in real time, the data are fed back to the single chip microcomputer in real time, the single chip microcomputer transmits the data to the computing equipment in real time, the computing equipment calculates the difference between the driving force required by each finger driven by the exoskeleton equipment to realize the action of rehabilitation operation and the current driving force, and the difference information is transmitted to the single chip microcomputer, so that the working condition of the exoskeleton equipment is adjusted by the.
5. An adaptive control hand exoskeleton rehabilitation apparatus incorporating pressure sensors, comprising the exoskeleton apparatus of claim 4 and a computing device, wherein: the exoskeleton device comprises a sensing glove (1), an exoskeleton and a pneumatic control device; the exoskeleton comprises supporting plates which are respectively arranged on the front side of the five-finger joint and the rear side of the finger joint of the sensing glove; a pressure sensor connected with the control module is arranged on the cavity wall of the inner cavity of the sensing glove; the pneumatic control device comprises an air bag member (7); the air bag part is fixed on the supporting plate of the outer skeleton, and when the air bag part contracts or expands, the finger parts of the sensing glove are driven to bend and extend so as to drive the fingers in the sensing glove to move.
6. The adaptive control hand exoskeleton rehabilitation device incorporating pressure sensors of claim 5, wherein: the air bag part is a corrugated hose part which can be longitudinally stretched; the corrugated hose is connected with an air source device (10) through an air path.
7. The adaptive control hand exoskeleton rehabilitation device incorporating pressure sensors of claim 6, wherein: the air source device comprises a box body (9), an air compressor and a pneumatic triple piece; the gas output by the air compressor is divided into five gas paths through a precision reducing valve (11), and the five gas paths are connected with air bag parts at the joints of the five fingers of the sensing gloves through a five-path electric proportional valve (12), a regulating valve (13) and an air pipe (8);
the pressure sensors are distributed densely in an array mode and are tightly attached to the inner side of the sensing glove, and the pressure sensors are flexible pressure sensors with skin-friendly performance.
8. The adaptive control hand exoskeleton rehabilitation device incorporating pressure sensors of claim 7, wherein: the single chip microcomputer in the exoskeleton equipment control module comprises an air source side single chip microcomputer (14) arranged at an air source device and a glove side single chip microcomputer (5) arranged at a sensing glove; the glove-side single chip microcomputer uploads the acquired pressure sensor data to external computing equipment through a Bluetooth module;
the external computing equipment transmits exoskeleton control information to the air source side single chip microcomputer through serial port communication or Bluetooth communication, and the computing equipment controls the exoskeleton equipment in real time through the air source side single chip microcomputer and the glove side single chip microcomputer.
9. The adaptive control hand exoskeleton rehabilitation device incorporating pressure sensors of claim 8, wherein: the exoskeleton control information comprises exoskeleton driving air pressure data; when the single chip microcomputer on the air source side receives the driving air pressure data of the exoskeleton, the air pressure of each air bag part is adjusted by controlling the five-way electric proportional valve, so that the driving force of the exoskeleton on the finger parts of the sensing gloves is adjusted.
10. The adaptive control hand exoskeleton rehabilitation device incorporating pressure sensors of claim 5, wherein: the outer wall of the sensing glove is provided with a male magic tape (2) and a female magic tape (3); when the sensing glove is worn, the sensing glove is fixed on the hand by the male magic tape (2) and the female magic tape (3); the joint part of the sensing glove and the hand is formed by flexible materials; the corrugated hose piece is cylindrical, and the middle position of the corrugated hose piece is closely adjacent to the finger joint.
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